Diff: Components/LSM303AGRSensor/LSM303AGRMagSensor.h

Revision:

7:753cd372c183

Child:

9:038121268b07

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Components/LSM303AGRSensor/LSM303AGRMagSensor.h	Tue Mar 14 13:41:43 2017 +0100
@@ -0,0 +1,119 @@
+/**
+ ******************************************************************************
+ * @file    LSM303AGRMagSensor.h
+ * @author  CLab
+ * @version V1.0.0
+ * @date    5 August 2016
+ * @brief   Abstract Class of an LSM303AGR magnetometer sensor.
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>&copy; COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ *   1. Redistributions of source code must retain the above copyright notice,
+ *      this list of conditions and the following disclaimer.
+ *   2. Redistributions in binary form must reproduce the above copyright notice,
+ *      this list of conditions and the following disclaimer in the documentation
+ *      and/or other materials provided with the distribution.
+ *   3. Neither the name of STMicroelectronics nor the names of its contributors
+ *      may be used to endorse or promote products derived from this software
+ *      without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ ******************************************************************************
+ */
+
+
+/* Prevent recursive inclusion -----------------------------------------------*/
+
+#ifndef __LSM303AGRMagSensor_H__
+#define __LSM303AGRMagSensor_H__
+
+
+/* Includes ------------------------------------------------------------------*/
+
+#include "DevI2C.h"
+#include "LSM303AGR_mag_driver.h"
+#include "MagneticSensor.h"
+
+
+/* Class Declaration ---------------------------------------------------------*/
+
+/**
+ * Abstract class of an LSM303AGR Inertial Measurement Unit (IMU) 6 axes
+ * sensor.
+ */
+class LSM303AGRMagSensor : public MagneticSensor
+{
+  public:
+    LSM303AGRMagSensor(DevI2C &i2c);
+    LSM303AGRMagSensor(DevI2C &i2c, uint8_t address);
+    virtual int init(void *init);
+    virtual int read_id(uint8_t *id);
+    virtual int get_m_axes(int32_t *pData);
+    virtual int get_m_axesRaw(int16_t *pData);
+    int enable(void);
+    int disable(void);
+    int get_m_sensitivity(float *pfData);
+    int get_m_odr(float *odr);
+    int set_m_odr(float odr);
+    int get_m_fs(float *fullScale);
+    int set_m_fs(float fullScale);
+    int read_reg(uint8_t reg, uint8_t *data);
+    int write_reg(uint8_t reg, uint8_t data);
+    
+    /**
+     * @brief Utility function to read data.
+     * @param  pBuffer: pointer to data to be read.
+     * @param  RegisterAddr: specifies internal address register to be read.
+     * @param  NumByteToRead: number of bytes to be read.
+     * @retval 0 if ok, an error code otherwise.
+     */
+    uint8_t io_read(uint8_t* pBuffer, uint8_t RegisterAddr, uint16_t NumByteToRead)
+    {
+        return (uint8_t) dev_i2c.i2c_read(pBuffer, address, RegisterAddr, NumByteToRead);
+    }
+    
+    /**
+     * @brief Utility function to write data.
+     * @param  pBuffer: pointer to data to be written.
+     * @param  RegisterAddr: specifies internal address register to be written.
+     * @param  NumByteToWrite: number of bytes to write.
+     * @retval 0 if ok, an error code otherwise.
+     */
+    uint8_t io_write(uint8_t* pBuffer, uint8_t RegisterAddr, uint16_t NumByteToWrite)
+    {
+        return (uint8_t) dev_i2c.i2c_write(pBuffer, address, RegisterAddr, NumByteToWrite);
+    }
+
+  private:
+
+    /* Helper classes. */
+    DevI2C &dev_i2c;
+    
+    /* Configuration */
+    uint8_t address;
+};
+
+#ifdef __cplusplus
+ extern "C" {
+#endif
+uint8_t LSM303AGR_MAG_io_write( void *handle, uint8_t WriteAddr, uint8_t *pBuffer, uint16_t nBytesToWrite );
+uint8_t LSM303AGR_MAG_io_read( void *handle, uint8_t ReadAddr, uint8_t *pBuffer, uint16_t nBytesToRead );
+#ifdef __cplusplus
+  }
+#endif
+
+#endif